Control system

ABSTRACT

A control system comprises a driver condition monitoring part configured to monitor the condition of the driver based on the captured image of the driver monitor camera. The driver condition monitoring part is configured to judge if the face of the driver fits in the angle of view of the driver monitor camera based on captured image of the driver monitor camera and to provide the driver through the information providing system with movement information relating to movement necessary for fitting the face of the driver in the angle of view when it is judged that the face of the driver does not fit in the angle of view of the driver monitor camera.

CROSS-REFERENCE TO RELATED APPLICATION

This application claims priority based on Japanese Patent ApplicationNo. 2017-214631 filed with the Japan Patent Office on Nov. 7, 2017, theentire contents of which are incorporated into the present specificationby reference.

FIELD

The present disclosure relates to a control system for a vehicle.

BACKGROUND

Japanese Unexamined Patent Publication No. 2012-218592 discloses aconventional control system of a vehicle configured so as to judgewhether a condition of a driver is a condition suitable for drivingbased on an eye closure rate of a driver measured by a driver monitorcamera.

SUMMARY

However, if using a driver monitor camera for facial recognition of thedriver, depending on the posture or physical build of the driver, partof the face of the driver is liable to be unable to fit in the angle ofview of the driver monitor camera and the accuracy of facial recognitionof the driver is liable to fall.

The present disclosure was made focusing on such problems and has as itsobject to suppress the drop in accuracy of facial recognition of thedriver.

To solve the above problem, according to one aspect of the presentdisclosure, there is provided a control system for controlling a hostvehicle provided with a driver monitor camera configured to capture aface of a driver of the host vehicle and an information providing systemconfigured to provide information to the driver of the host vehicle,which control system comprises a driver condition monitoring partconfigured to monitor a condition of the driver based on a capturedimage of the driver monitor camera. The driver condition monitoring partis configured to judge if the face of the driver fits in the angle ofview of the driver monitor camera based on a captured image of thedriver monitor camera and to provide the driver through the informationproviding system with movement information relating to movementnecessary for fitting the face of the driver in the angle of view whenjudging that the face of the driver does not fit in the angle of view ofthe driver monitor camera.

According to this aspect of the present disclosure, it is possible tosuppress a drop in accuracy of facial recognition of the driver.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a schematic view of the configuration of an automated drivingsystem for a vehicle according to a first embodiment of the presentdisclosure.

FIG. 2 is a schematic view of the appearance of a host vehicle mountingan automated driving system according to the first embodiment of thepresent disclosure.

FIG. 3 is a schematic view of the inside of a host vehicle mounting anautomated driving system according to the first embodiment of thepresent disclosure.

FIG. 4 is a flow chart explaining driver monitoring control according tothe first embodiment of the present disclosure.

FIG. 5 is a flow chart explaining automated driving control according tothe first embodiment of the present disclosure.

FIG. 6 is a schematic view of the configuration of an automated drivingsystem for a vehicle according to a second embodiment of the presentdisclosure.

FIG. 7 is a flow chart explaining camera position control according tothe second embodiment of the present disclosure.

DESCRIPTION OF EMBODIMENTS

Below, referring to the drawings, embodiments of the present inventionwill be explained in detail. Note that, in the following explanation,similar component elements will be assigned the same referencenotations.

First Embodiment

FIG. 1 is a schematic view of the configuration of an automated drivingsystem 100 for a vehicle according to a first embodiment of the presentdisclosure. FIG. 2 is a schematic view of the appearance of a hostvehicle 1 mounting an automated driving system 100 according to thepresent embodiment. FIG. 3 is a schematic view of the inside of the hostvehicle 1 mounting the automated driving system 100 according to thepresent embodiment.

As shown in FIG. 1, the automated driving system 100 according to thepresent embodiment is provided with a surrounding environmentinformation acquiring device 10, a host vehicle information acquiringdevice 20, a driver information acquiring device 30, a map database 40,a storage device 50, a human-machine interface (below, referred to as an“HMI”) 60, a navigation system 70, and an electronic control unit 80.

The surrounding environment information acquiring device 10 is a devicefor acquiring information relating to obstacles in the surroundings ofthe host vehicle (for example, buildings, moving vehicles such asvehicles in front of it and in back of it on the road and oncomingvehicles, stopped vehicles, the curb, fallen objects, pedestrians, etc.)and the weather and other such surrounding environmental conditions ofthe host vehicle 1 (below, referred to as the “surrounding environmentinformation”). As shown in FIG. 1 to FIG. 3, the surrounding environmentinformation acquiring device 10 according to the present embodiment isprovided with a LIDAR (laser imaging detection and ranging) device 11,milliwave radar sensors 12, an external camera 13, illuminance sensor14, rain sensor 15, and outside information receiving device 16.

The LIDAR device 11 uses laser beams to detect the road and obstacles inthe host vehicle surroundings. As shown in FIG. 2, in the presentembodiment, the LIDAR device 11 is, for example, attached to the roof ofthe host vehicle 1. The LIDAR device 11 successively fires laser beamstoward the overall surroundings of the host vehicle 1 and measures thedistances to the road and host vehicle surroundings from the reflectedlight. Further, the LIDAR device 11 uses the results of measurement asthe basis to generate 3D images of the road and obstacles in the overallsurroundings of the host vehicle 1 and sends information of thegenerated 3D images to the electronic control unit 80.

Note that, the locations of attachment and number of the LIDAR device 11are not particularly limited so long as information required forgenerating a three-dimensional image can be acquired. For example, thedevice may also be attached split to the grilles or to the insides oflights such as the headlights or brake lights of the host vehicle 1 ormay be attached split to parts of the body (frame) of the host vehicle1.

The milliwave radar sensors 12 utilize electromagnetic waves to detectobstacles in the host vehicle surroundings at a farther distance thanthe LIDAR device 11. As shown in FIG. 2, in the present embodiment, themilliwave radar sensors 12, for example, are attached to the frontbumper and rear bumper of the host vehicle 1. The milliwave radarsensors 12 emit electromagnetic waves to the surroundings of the hostvehicle 1 (in the present embodiment, the front, rear, and sides of thehost vehicle 1) and use the reflected waves to measure the distances toobstacles in the host vehicle surroundings and the relative speed withthe obstacles. Further, the milliwave radar sensors 12 send the resultsof measurement as host vehicle surrounding information to the electroniccontrol unit 80.

Note that, the locations of attachment and number of the milliwave radarsensors 12 are not particularly limited so long as the necessary hostvehicle surrounding information can be acquired. For example, they mayalso be attached to the grilles or to the insides of the lights such asthe headlights or brake lights of the host vehicle 1 or may be attachedto parts of the body (frame) of the host vehicle 1.

The external camera 13 captures an image of the area in front of thehost vehicle 1. As shown in FIG. 2, in the present embodiment, theexternal camera 13 is, for example, attached to the center part of thefront of the roof of the host vehicle 1. The external camera 13processes the captured image of the area in front of the host vehicle todetect information on obstacles in front of the host vehicle, the widthof the lane of the road driven on and the road shape, road signs, whitelines, the state of traffic lights, and other road information in thearea in front of the host vehicle, the yaw angle (relative direction ofvehicle with respect to lane driven on), the offset position of thevehicle from the center of the lane driven on, and other such drivinginformation of the host vehicle 1, rain or snow or fog and other suchweather information of the host vehicle surroundings, etc. Further, theexternal camera 13 sends the detected image information to theelectronic control unit 80.

Note that, the locations of attachment and number of the externalcameras 13 are not particularly limited so long able to capture an imageof the area in front of the host vehicle 1. For example, the camera mayalso be attached to the top of the center part of the back surface ofthe front glass of the host vehicle.

The illuminance sensor 14 detects the illuminance in the host vehiclesurroundings. As shown in FIG. 2, in the present embodiment, theilluminance sensor 14 is, for example, attached to the top surface ofthe instrument panel of the host vehicle. The illuminance sensor 14sends the detected illuminance information of the host vehiclesurroundings to the electronic control unit 80.

The rain sensor 15 detects the presence of rainfall and the amount ofrainfall. As shown in FIG. 2, in the present embodiment, the rain sensor15 is, for example, attached to the top of the center of the frontsurface of the front glass of the host vehicle 1. The rain sensor 15fires light generated by a built-in light emitting diode toward thefront surface of the front glass and measures the change in thereflected light at that time so as to detect the presence of rainfall,the amount of rainfall, and other rainfall information. Further, therain sensor 15 sends the detected rainfall information to the electroniccontrol unit 80.

The outside information receiving device 16, for example, receivescongestion information, weather information (rain, snow, fog, windspeed, and other information), and other outside information road sentfrom a traffic information communication system center or other outsidecommunication center. The outside information receiving device 16 sendsthe received outside information to the electronic control unit 80.

The host vehicle information acquiring device 20 is a device foracquiring a speed or acceleration, posture, and current position of thehost vehicle 1 and other such information relating to the conditions ofthe host vehicle 1 (below, referred to as “host vehicle information”).As shown in FIG. 1, the host vehicle information acquiring device 20according to the present embodiment is provided with a vehicle speedsensor 21, acceleration sensor 22, yaw rate sensor 23, and GPS receiver24.

The vehicle speed sensor 21 is a sensor for detecting the speed of thehost vehicle 1. The vehicle speed sensor 21 sends the detected vehiclespeed information of the host vehicle 1 to the electronic control unit80.

The acceleration sensor 22 is a sensor for detecting the acceleration ofthe host vehicle 1 at the time of accelerating or the time of braking.The acceleration sensor 22 sends the detected acceleration informationof the host vehicle 1 to the electronic control unit 80.

The yaw rate sensor 23 is a sensor for detecting the posture of the hostvehicle 1, more specifically detects the speed of change of the yawangle at the time the host vehicle 1 turns, that is, the rotationalangular speed (yaw rate) about the vertical axis of the host vehicle 1.The yaw rate sensor 23 sends the detected posture information of thehost vehicle 1 to the electronic control unit 80.

The GPS receiver 24 receives signals from three or more GPS satellitesto identify the longitude and latitude of the host vehicle 1 and detectthe current position of the host vehicle 1. The GPS receiver 24 sendsthe detected current position information of the host vehicle 1 to theelectronic control unit 80.

The driver information acquiring system 30 is a system for acquiringinformation relating to the condition of the driver of the host vehicle1 (below, referred to as the “driver information”). As shown in FIG. 1and FIG. 3, the driver information acquiring system 30 according to thepresent embodiment is comprised of a driver monitor camera 31, steeringwheel touch sensor 32, and seating sensor 33.

The driver monitor camera 31 is attached to the top surface of thesteering column 34 and captures the appearance of the driver. By imageprocessing of the image of the drive captured, the driver monitor camera31 detects the driver appearance information such as the expression orposture of the driver. Further, the driver monitor camera 31 sends thedetected driver appearance information to the electronic control unit80.

The steering column 34 is provided with a power tilt/telescopicmechanism enabling an up-down position (angle) and a front-back position(length) of the steering column 34 to be adjusted to any position. Usingthis power tilt/telescopic mechanism, it becomes possible toautomatically change the image capturing position of the driver monitorcamera 31 attached to the top surface of the steering column 34.

The steering wheel touch sensor 32 is attached to the steering wheel.The steering wheel touch sensor 32 detects whether the driver isgripping the steering wheel and sends the detected information on thegripping of the steering wheel to the electronic control unit 80.

The seating sensor 33 is provided at the bottom of the surface of theseat. The seating sensor 33 detects the body weight or physical build(sitting height or body length) etc. of the driver based on the loadapplied to the surface of the seat and sends the input information fromthe detected seat to the electronic control unit 80.

The map database 40 is a database relating to map information. This mapdatabase 40 is for example stored in a hard disk drive (HDD) mounted inthe vehicle. The map information includes positional information on theroads, information on the road shapes (for example, curves or straightstretches, curvature of curves, etc.), positional information on theintersections and turn-off points, information on the road types, etc.

The storage device 50 stores a road map designed for automated driving.The automated driving use road map is prepared by the electronic controlunit 80 based on the 3D image generated by the LIDAR device 11 andconstantly or periodically updated by the electronic control unit 80.

The HMI 60 is an interface for input and output of information betweenthe driver or a vehicle passenger and the automated driving system 100.The HMI 60 according to the present embodiment is provided with aninformation providing system 61 for providing various information to thedriver, a microphone 62 for recognizing the voice of the driver, and atouch panel, operating buttons, or other input device 63 for the driverto perform input operations.

The information providing system 61 is provided with a display 611 fordisplaying text information or graphic information and a speaker 612 forgenerating a sound.

The navigation system 70 is an apparatus for guiding the host vehicle 1to a destination set by the driver through the HMI 60. The navigationsystem 70 sets the driving route to the destination based on the currentposition information of the host vehicle 1 detected by the GPS receiver24 and map information of the map database 40 and transmits theinformation relating to the set driving route as navigation informationto the electronic control unit 80.

The electronic control unit 80 is a microcomputer comprised ofcomponents connected with each other by a bidirectional bus such as acentral processing unit (CPU), read only memory (ROM), random accessmemory (RAM), input port, and output port.

The electronic control unit 80 is provided with an automated drivingcontrol part 90. It is configured so that when the driver switches fromthe manual driving mode (mode where driver performs driving operationsrelating to acceleration, steering, and braking) to the automateddriving mode, it is possible to automatically perform driving operationsrelating to acceleration, steering, and braking for driving the vehicle,that is, to perform automated driving. Specifically, the automateddriving control part 90 is configured provided with a target drivingroute setting part 91, target driving line setting part 92, and drivingoperation implementing part 93.

The target driving route setting part 91 sets the target driving routeof the vehicle during the automated driving mode. Specifically, thetarget driving route setting part 91 sets the driving route up to thedestination included in the navigation information as the target drivingroute.

The target driving line setting part 92 sets the target driving linewhen driving on a driving lane on the target driving route.Specifically, the target driving line setting part 92 sets as the targetdriving line a driving line enabling running over the road in front ofthe host vehicle by a suitable speed corresponding to the roadconditions (degree of congestion, road shape, road surface conditions,etc.) based on obstacle information of the surroundings of the hostvehicle (information on vehicles in the front, fallen objects, etc.) androad information in front of the host vehicle such as the widths ofdriving lanes and road shape, and speed information of the host vehicle.

The driving operation part 93 automatically performs driving operationsrelating to acceleration, steering, and braking so that the vehicledrives along the target driving line. Specifically, the drivingoperation part 93 controls the various control parts required forperforming driving operations relating to acceleration, steering, andbraking based on surrounding environment information, host vehicleinformation, and, in accordance with need, driver information and othervarious types of information so as to automatically perform drivingoperations of the vehicle.

Further, the electronic control unit 80 is provided with a drivingassistance part 94 in addition to an automated driving control part 90and is configured to be able to automatically perform various types ofdriving assistance aimed at securing driver safety during the manualdriving mode and automated driving mode.

The driving assistance part 94 according to the present embodiment isprovided with a driver condition monitoring part 95 for monitoring thecondition of the driver based on the image of the driver captured by thedriver monitor camera 31, that is, the above-mentioned driver appearanceinformation, so as to perform such driving assistance. For example, itis configured to prompt attention when the driver is engaged indistracted driving and being lax in monitoring the surroundings andotherwise provide suitable driving assistance corresponding to thedriver condition.

Specifically, the driver condition monitoring part 95 performs facialrecognition of the driver based on the positions of the two eyes, theposition of the nose, the interval between the two eyes, etc. of thedriver included in the driver appearance information and monitors theorientation of the face of the driver, the direction of the line ofsight, etc.

However, depending on the posture or physical build of the driver, partof the face of the driver ends up deviating without fitting in the angleof view of the driver monitor camera 31 and the accuracy of recognitionof the face of the driver is liable to fall. This being so, for example,the driver ends up being prompted to pay more attention regardless ofnot engaging in distracted driving etc. and otherwise it is liable tobecome impossible for suitable driving assistance to be provided.Further, if the accuracy of facial recognition of the driver remarkablyfalls and the face of the driver can no longer be normally recognized,it is liable to be no longer possible to monitor the driver condition.Furthermore, in a situation where the accuracy of recognition of theface of the driver falls and the condition of the driver cannot besufficiently monitored, from the viewpoint of securing the safety of thedriver, it is preferable to avoid as much as possible automated drivingfrom being performed unless some countermeasures are taken.

Therefore, in the present embodiment, the driver condition monitoringpart 95 was configured so that when part of the face of the driver doesnot fit in the angle of view of the driver monitor camera 31, the drivercan be notified by text or voice of the information for promptingmovement necessary for fitting the face of the driver in the angle ofview.

Further, the automated driving control part 90 was configured so thatwhen the face of the driver does not fit in the angle of view of thedriver monitor camera 31, from the viewpoint of securing the safety ofthe driver, it is possible to perform automated driving so long as thedriver is gripping the steering wheel. Below, the driver conditionmonitoring control and automated driving control according to thepresent embodiment will be explained.

FIG. 4 is a flow chart for explaining driver monitoring controlaccording to the present embodiment. The electronic control unit 80repeatedly performs the present routine by a predetermined processingperiod during operation of the vehicle.

At step S1, the electronic control unit 80 performs facial recognitionof the driver based on the positions of the two eyes, the position ofthe nose, the interval between the two eyes, etc. of the driver includedin the driver appearance information.

At step S2, the electronic control unit 80 judges if the face of thedriver fits in the angle of view of the driver monitor camera 31 basedon the results of facial recognition of the driver. For example, theelectronic control unit 80 judges that the face of the driver does notfit in the angle of view of the driver monitor camera 31 if part of theface deviates etc. as a result of facial recognition of the driver. Theelectronic control unit 80 proceeds to the processing of step S3 if theface of the driver fits in the angle of view of the driver monitorcamera 31. On the other hand, the electronic control unit 80 proceeds tothe processing of step S5 if the face of the driver does not fit in theangle of view of the driver monitor camera 31.

At step S3, the electronic control unit 80 sets the flag F1 at “1”. Theflag F1 is a flag which is set to “1” when the face of the driver fitsin the angle of view of the driver monitor camera 31 and is set to “0”when the face of the driver is not in the angle of view of the drivermonitor camera 31. The initial value of the flag F1 is set to “0”.

At step S4, the electronic control unit 80 detects the orientation ofthe face of the driver, the direction of the line of sight, etc. basedon the results of facial recognition of the driver to monitor the drivercondition.

At step S5, the electronic control unit 80 sets the flag F1 to “0”.

At step S6, the electronic control unit 80 provides the driver withinformation for prompting movement necessary for making the face of thedriver fit in the angle of view (below, referred to as “movementinformation”) through the information providing system 61.

The movement information is text information or voice information ofcontent such as “correct your posture” and “change the position of yourface”. By providing such movement information through the informationproviding system 61 to the driver, it is possible to prompt the driverto perform movement required for making the face of the driver fit inthe angle of view of the driver monitor camera 31.

Note that the content of the movement information may be changedaccording to the deviated part of the face of the driver deviating fromthe inside of the angle of view of the driver monitor camera 31. Forexample, if the eyes of the driver deviate, the content of the movementinformation may be changed to information of the content “Your eyes areoff. Please lower the position of your face”. Due to this, it ispossible to prompt the driver to perform suitable movement correspondingto the deviating part of the face as movement for fitting the face ofthe driver inside the angle of view of the driver monitor camera 31.

Further, the content of the movement information may be changedaccording to the degree of deviation of the face of the driver deviatingfrom the inside of the angle of view of the driver monitor camera 31.For example, if the face of the driver deviates upward, it is alsopossible to change the content of the movement information correspondingto the amount of deviation [cm] from the center of the angle of view toinformation of the content of “Please lower the position of your face byseveral centimeters”. Due to this, it is possible to prompt the driverto perform suitable movement corresponding to the degree of deviation ofthe face as movement for fitting the face of the driver inside the angleof view of the driver monitor camera 31.

FIG. 5 is a flow chart for explaining automated driving controlaccording to the present embodiment. The electronic control unit 80repeatedly performs the present routine during operation of the vehicleby a predetermined processing period.

At step S11, the electronic control unit 80 judges if there is a requestfor automated driving. Specifically, the electronic control unit 80judges if the operating mode is being switched to the automated drivingmode. The electronic control unit 80 judges that there is a request forautomated driving if the driving mode has been switched to the automateddriving mode and then proceeds to the processing of step S12. On theother hand, the electronic control unit 80 judges that there is norequest for automated driving and ends the current processing if thedriving mode is the manual driving mode.

At step S12, the electronic control unit 80 reads the value of the flagF1 which is set and updated at any time in driver monitoring control andjudges if the value of the flag F1 is “1” or not. That is, theelectronic control unit 80 judges if the face of the driver fits in theangle of view of the driver monitor camera 31 and the situation is onewhere the condition of the driver can be sufficiently monitored. Theelectronic control unit 80 judges that the condition of the driver canbe sufficiently monitored if the value of the flag F1 is “1” thenproceeds to the processing of step S13. On the other hand, theelectronic control unit 80 judges that the condition of the drivercannot be sufficiently monitored if the value of the flag F1 is “0” thenproceeds to the processing of step S14.

At step S13, the electronic control unit 80 permits automated drivingand performs automated driving.

At step S14, the electronic control unit 80 judges whether the driver isgripping the steering wheel based on the gripping information of thesteering wheel. The electronic control unit 80 judges that the minimumextent of safety can be secured when performing automated driving evenif the driver condition cannot be sufficiently monitored and proceeds tothe processing of step S13 if the driver is gripping the steering wheel.On the other hand, the electronic control unit 80 proceeds to theprocessing of step S15 if the driver is not gripping the steering wheel.

At step S15, the electronic control unit 80 prohibits automated driving.Specifically, the electronic control unit 80 holds off on startingautomated driving until the face of the driver fits inside the angle ofview of the driver monitor camera 31 or until the driver grips thesteering wheel if the time when the start of automated driving isrequested. Further, if during automated driving, the driver is forexample requested to change the driving operation through theinformation providing system 61 so as to suspend automated driving untilthe face of the driver fits inside the angle of view of the drivermonitor camera 31 or until the driver grips the steering wheel.

According to the present embodiment explained above, the electroniccontrol unit 80 (control system) for control of a vehicle provided witha driver monitor camera 31 configured to capture an image of the face ofthe driver of the host vehicle and an information providing system 61configured to provide information to the driver of the host vehicle isprovided with a driver condition monitoring part 95 for monitoring thecondition of the driver based on the captured image of the drivermonitor camera 31.

Further, the driver condition monitoring part 95 is configured to judgeif the face of the driver fits in the angle of view of the drivermonitor camera 31 based on the captured image of the driver monitorcamera 31 and, when it is judged that the face of the driver does notfit in the angle of view of the driver monitor camera 31, to providemovement information through the information providing system 61 to thedriver regarding movement required for making the face of the driver fitinside the angle of view.

Due to this, the driver can be prompted to perform movement required forfitting the face of the driver in the angle of view of the drivermonitor camera 31, so it is possible to keep the accuracy of facialrecognition of the driver from falling.

At this time, if configuring the driver condition monitoring part 95 soas to change the content of the movement information provided to thedriver corresponding to the deviated part of the face of the driverdeviating from inside the angle of view of the driver monitor camera 31,it is possible to prompt the driver to perform suitable movementcorresponding to the deviated part of the face as movement for fittingthe face of the driver in the angle of view of the driver monitor camera31. For this reason, it is possible to effectively suppress a drop inaccuracy of facial recognition of the driver.

Further, if configuring the driver condition monitoring part 95 so as tochange the content of the movement information provided to the driver inaccordance with the degree of deviation of the face of the driver frominside the angle of view of the driver monitor camera 31, it is possibleto prompt the driver to perform suitable movement corresponding to thedegree of deviation of the face as movement for fitting the face of thedriver in the angle of view of the driver monitor camera 31. For thisreason, it is possible to effectively suppress a drop in the accuracy offacial recognition of the driver.

Further, the electronic control unit 80 (control device) according tothe present embodiment is further provided with an automated drivingcontrol part 90 configured to perform automated driving forautomatically performing driving operations of the vehicle. Theautomated driving control part 90 is configured to judge if the driveris gripping the steering wheel based on input information from thedriver at the steering wheel of the vehicle and, if it is judged thatthe face of the driver does not fit in the angle of view of the drivermonitor camera 31, to permit automated driving so long as the driver isgripping the steering wheel.

Due to this, even under conditions where the accuracy of facialrecognition of the driver falls, automated driving can be performed in astate securing safety.

Second Embodiment

Next, a second embodiment of the present disclosure will be explained.The present embodiment differs from the first embodiment on the point ofautomatically adjusting the image capturing position of the drivermonitor camera 31 to a suitable position corresponding to the physicalbuild of the driver when starting to monitor the driver condition.Below, this point of difference will be mainly explained.

If the steering column is provided with a power tilt/telescopicmechanism etc., it is possible to automatically change the imagecapturing position of the driver monitor camera 31 attached to the topsurface of the steering column.

For this reason, for example, when starting the vehicle, when startingautomated driving, and when otherwise starting monitoring the drivercondition, if possible to automatically adjust the image capturingposition of the driver monitor camera 31 to a suitable position inaccordance with the physical build of the driver, it is possible tolower the probability of the face of the driver no longer fitting in theangle of view of the driver monitor camera 31 and in turn possible tosuppress a drop in accuracy of facial recognition.

Therefore, in the present embodiment, when starting to monitor thedriver condition, it is made possible to adjust the image capturingposition of the driver monitor camera 31 to a suitable positioncorresponding to the physical build of the driver.

FIG. 6 is a schematic view of the configuration of an automated drivingsystem 100 for a vehicle according to a second embodiment of the presentdisclosure.

As shown in FIG. 6, the electronic control unit 80 according to thepresent embodiment further comprises a camera position control part 96.The camera position control part 96 adjusts the image capturing positionof the driver monitor camera 31 to a suitable position according to thephysical build of the driver when starting to monitor the drivercondition. Below, the camera position control according to the presentembodiment will be explained.

FIG. 7 is a flow chart for explaining camera position control accordingto the present embodiment.

At step S21, the electronic control unit 80 judges if it is the time forstarting monitoring of the driver condition. In the present embodiment,the electronic control unit 80 judges if it is time to start thevehicle, but the timing of judgment is not limited to this. For example,it may also be the time for start of automated driving. Further, if ableto turn ON/OFF monitoring of the driver condition at the intent of thedriver, it may also be the time when the driver turns the monitoring ofthe driver condition ON.

At step S22, the electronic control unit 80 estimates the sitting heightof the driver based on the input information from the seat detected bythe seating sensor 33.

At step S23, the electronic control unit 80 sets the target initialposition of the driver monitor camera 31 based on the sitting height ofthe driver and controls the power tilt/telescopic mechanism of thesteering column so as to reach that target initial position. Note thatin the present embodiment, the average positional relationship betweenthe sitting height of the driver and the face is found in advance byexperiments etc. By referring to a map summarizing these relationships,the target initial position of the driver monitor camera 31 is set basedon the sitting height of the driver.

The electronic control unit 80 according to the present embodimentexplained above further comprises a camera position control part 96configured to control a power tilt/telescopic mechanism (camera positionadjustment mechanism) for automatically adjusting the position of thedriver monitor camera 31. The camera position control part 96 isconfigured to estimate the sitting height of the driver based on theinput information from the seat on which the driver sits, set the targetinitial position of the driver monitor camera 31 based on that sittingheight, and control the power tilt/telescopic mechanism so as to becomethat target initial position.

By automatically adjusting the initial position of the driver monitorcamera 31 based on the sitting height of the driver in this way, it ispossible to lower the probability of the face of the driver no longerfitting in the angle of view of the driver monitor camera 31. For thisreason, it is possible to suppress a drop in accuracy of facialrecognition of the driver.

Above, embodiments of the present disclosure were explained, but theabove embodiments only show part of the examples of application of thepresent disclosure. They are not intended to limit the technical scopeof the present disclosure to the specific constitutions of theembodiments.

1. A control system for controlling a host vehicle, the host vehiclecomprising: a driver monitor camera configured to capture a face of adriver of the host vehicle; and an information providing systemconfigured to provide information to the driver of the host vehicle,wherein the control system comprises a driver condition monitoring partconfigured to monitor a condition of the driver based on a capturedimage of the driver monitor camera, and the driver condition monitoringpart is configured to judge if the face of the driver fits in the angleof view of the driver monitor camera based on captured image of thedriver monitor camera and to provide the driver through the informationproviding system with movement information relating to movementnecessary for fitting the face of the driver in the angle of view whenjudging that the face of the driver does not fit in the angle of view ofthe driver monitor camera.
 2. The control system according to claim 1,wherein the control system further comprises an automated drivingcontrol part configured to perform automated driving for automaticallyperforming driving operations of the vehicle, and the automated drivingcontrol part is configured to judge if the driver is gripping a steeringwheel of the vehicle based on input information from the driver to thesteering wheel and permit automated driving when it is judged that theface of the driver does not fit in the angle of view only when thedriver is gripping the steering wheel.
 3. The control system accordingto claim 1, wherein the driver condition monitoring part is configuredso as to change a content of the movement information provided to thedriver in accordance with a deviated part of the face of the driverdeviating from inside the angle of view of the driver monitor camera.The control system according to claim 1, wherein the driver conditionmonitoring part is configured so as to change a content of the movementinformation provided to the driver in accordance with a degree ofdeviation of the face of the driver from inside the angle of view of thedriver monitor camera.
 5. The control system according to claim 1,wherein the control system further comprises a camera position controlpart configured to control a camera position adjustment mechanism forautomatically adjusting a position of the driver monitor camera, and thecamera position control part is configured to estimate a sitting heightof the driver based on input information from a seat on which the driveris seated and to set the target initial position of the driver monitorcamera based on the sitting height and controlling the camera positionadjustment mechanism so as to become that target initial position.